CN104285350B - For Earth Fault Detection in adjustable-speed driver and the system and method for protection - Google Patents

For Earth Fault Detection in adjustable-speed driver and the system and method for protection Download PDF

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Publication number
CN104285350B
CN104285350B CN201380023469.0A CN201380023469A CN104285350B CN 104285350 B CN104285350 B CN 104285350B CN 201380023469 A CN201380023469 A CN 201380023469A CN 104285350 B CN104285350 B CN 104285350B
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China
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phase
threshold values
voltage
motor
earth fault
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CN201380023469.0A
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CN104285350A (en
Inventor
H·李
Y·L·法米利安特
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Eaton Intelligent Power Ltd
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Eaton Corp
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H3/00—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition with or without subsequent reconnection ; integrated protection
    • H02H3/16—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition with or without subsequent reconnection ; integrated protection responsive to fault current to earth, frame or mass
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H3/00—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition with or without subsequent reconnection ; integrated protection
    • H02H3/16—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition with or without subsequent reconnection ; integrated protection responsive to fault current to earth, frame or mass
    • H02H3/162—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition with or without subsequent reconnection ; integrated protection responsive to fault current to earth, frame or mass for ac systems
    • H02H3/165—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition with or without subsequent reconnection ; integrated protection responsive to fault current to earth, frame or mass for ac systems for three-phase systems
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/10—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for converters; for rectifiers
    • H02H7/12—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for converters; for rectifiers for static converters or rectifiers
    • H02H7/122—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for converters; for rectifiers for static converters or rectifiers for inverters, i.e. dc/ac converters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/10—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for converters; for rectifiers
    • H02H7/12—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for converters; for rectifiers for static converters or rectifiers
    • H02H7/122—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for converters; for rectifiers for static converters or rectifiers for inverters, i.e. dc/ac converters
    • H02H7/1227—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for converters; for rectifiers for static converters or rectifiers for inverters, i.e. dc/ac converters responsive to abnormalities in the output circuit, e.g. short circuit
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
    • H02P29/0241—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being an overvoltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
    • H02P29/027—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being an over-current
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy
    • Y02E10/56—Power conversion systems, e.g. maximum power point trackers

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Inverter Devices (AREA)
  • Control Of Ac Motors In General (AREA)
  • Testing Of Short-Circuits, Discontinuities, Leakage, Or Incorrect Line Connections (AREA)

Abstract

For detecting that the system and method for earth fault in AC motor drivers are disclosed.System for fault detect and the protection of AC motor drivers includes the current sensor for being used to measure the first and second phase output currents; voltage sensor for measuring DC link voltages, and for determining that the voltage of PWM inverter switch and the desaturation of associated current of the third phase in for output control circuit.Voltage of the controller by the first and second phase currents, measured DC link voltages and across the PWM inverter switch on third phase compares with multiple threshold values.Earth fault in one of the comparison of voltage and threshold values of the controller based on the first and second phase currents, DC link voltages and across switch, first, second, and third phase in the three-phase output of detection to AC motor.

Description

For Earth Fault Detection in adjustable-speed driver and the system and method for protection
Technical field
This invention relates generally to adjustable-speed driver (ASD), more particularly, it is related to for detecting the event of the ground connection in ASD Barrier, and detection when protect the ASD not by this kind of earth fault damage system and method.
Background technology
Adjustable-speed driver (ASD) is widely used in Motor Control field, to improve energy efficiency.Such ASD Three-phase AC power source is typically attached to, wherein, the ASD includes being used to be converted to the 3-phase AC power provided from three-phase AC power source The AC/DC converters of DC electric power, and also include being used to be converted to the DC electric power exported from AC/DC converters for electronic The DC/AC converters for the 3-phase AC power that machine is powered.
During by ASD to powering electric motors, it has to be possible to detect the current failure that may occur, and And providing protection to ASD when this kind of failure is detected.The common cause of this kind of current failure is to send out in the process of running Raw motor winding insulation failure.This winding insulation failure may result in winding and the short circuit of motor ground shell, so that Cause earth fault.When this failure occurs, ASD export phase on short-circuit phase current will steeply rise, and if There is no fault detect and protection on appropriate position, the ASD equipment is likely to be broken.It is understood, therefore, that detecting this kind of event During barrier, current failure detection and protection scheme for ASD realize that in motor driving application be very important consideration.
For detecting that the common solution of current failure is to be measured by using current sensor on motor side All three-phase currents.For this purpose, circuit overcurrent protection is generally included for monitoring all threephase motor electric currents Device (that is, three current sensors), and (insulated gate is double for turning off inverter IGBT when electric current disorder is identified Bipolar transistor) device.When one of line current exceedes reservation threshold, the circuit recognizes the possibility of short circuit, and closes Break to the inverter of all three motor phases, so as to effectively stop motor, be identified until the reason for disorder.This It is very effective that solution, which is planted, in Earth Fault Detection and protection, however, all three current sensors and support The cost of circuit may be costly.
Because the current failure detection carried out by using all three-phase currents of three current sensor measurements may be very high It is expensive, therefore, also realized that current failure was detected using only two current sensors in the past.In such a system, pass through Assuming that three-phase current sum is zero, remaining one can be obtained by calculating in three phase currents.Unfortunately, only two In the case that individual line current is measured and the 3rd electric current is derived, this electric current derived may not reflect tertiary circuit On failure over the ground.Because the connection on tertiary circuit over the ground may not have significantly to the electric current on the first and second circuits Influence.If short circuit occurs on tertiary circuit, and by tertiary circuit electric current is to pass through sensed first and second That electric current is derived and cause the short circuit to be not detected, then overcurrent circuit correctly can not work to turn off three-phase Electric current, and motor damages may occur.
It is therefore desirable to provide a kind of current sense and the apparatus and method of protection, wherein, the institute in three phase motor system There is electric current that the current sensor less than three can be used to derive, and can also pass through the electric current of sensing and specific electricity (such as DC links (link) voltage and inverter IGBT saturation voltages) is pressed to provide complete overcurrent protection.
The content of the invention
It is used to detect the earth fault in ASD The embodiment provides a kind of, and is protected when detection The system and method that the ASD is not damaged by this kind of earth fault.
According to an aspect of the present invention, with the input that may be connected to AC power supplies and it may be connected to the inputs of AC motor The AC motor drivers of the three-phase output of terminal are provided, and the AC motor drivers include pulse width modulation (PWM) there is multiple switch, to control the electric current flowing and terminal voltage in AC motor in inverter, the inverter.AC electricity Motivation driver also includes fault detect and the protection system for being connected to PWM converter, and the fault detect and protection system Further comprise the current sensor pair for measuring the electric current in the first phase and the second phase in the output of AC motor drivers, The voltage sensor of the DC link voltages on DC links for measuring AC motor drivers, is configured to determine that inverse across PWM The voltage of switch corresponding with the third phase in three-phase output and the desaturation of associated current become in device controls circuit, and control The electric current measured in device processed, the first phase and the second phase that the controller is configured as in being exported in three-phase is compared with the first threshold values Compared with, measured DC link voltages are compared with the second threshold values, by across the voltage of the switch on the third phase of PWM inverter with 3rd threshold values compares, and based on the first and second phase currents, DC link voltages and the voltage across the switch on third phase With the comparison of first, second, and third threshold values, one of first, second, and third phase in the three-phase output of detection to AC motor On earth fault.
According to another aspect of the present invention, a kind of method bag for being used to detect earth fault in AC motor drivers Include there is provided the AC motor drivers being connected between AC power supplies and AC motor, the AC motor drivers are included with many It is individual to switch and be configured as pulse width modulation (PWM) inverter that regulation is exported to the three-phase of AC motor.This method is also wrapped Include the current sensor by including in the first phase and the second phase, first phase and second phase of the measurement at least in three-phase output In electric current in each phase, measure the voltage on the DC links of AC motor drivers, and pass through desaturation and control circuit to survey The voltage across the switch corresponding with the third phase in three-phase output in PWM inverter is measured, and also based on measured voltage It is determined that across the electric current of the switch corresponding with third phase in PWM inverter.This method further comprises in being exported in three-phase Measured electric current is compared with the first threshold values in first phase and the second phase, by measured DC link voltages and the second threshold values phase Compare, will be compared across the voltage of the switch on the third phase in PWM inverter with the 3rd threshold values, and based on first and second The comparison of phase current, DC link voltages and voltage and first, second, and third threshold values across the switch on third phase, judges The presence of earth fault in one of first, second, and third phase into the three-phase output of AC motor.
According to a further aspect of the invention, a kind of system bag for being used to detect earth fault in AC motor drivers Include, the current sensor pair for measuring the electric current in the first phase and the second phase during the three-phase of AC motor drivers is exported, For measuring the voltage sensor of the DC link voltages in AC motor drivers on DC links, and it is configured to determine that across AC The desaturation control electricity of the voltage of the insulated gate bipolar transistor (IGBT) of inverter and associated current in motor driver Road, desaturation control circuit determines voltage and associated current on the third phase at least in three-phase output.The system is also wrapped Controller is included, the controller is configured as electric current and the first valve measured in the first phase in being exported in three-phase and the second phase Value is compared, and measured DC link voltages are compared with the second threshold values, by across corresponding with third phase in inverter IGBT voltage is compared with the 3rd threshold values, and if one of first and second phase currents are higher than the first threshold values and DC links Voltage is higher than the second threshold values, or if the first and second phase currents are less than the first threshold values, DC link voltages are higher than the second threshold values, And across the IGBT corresponding with third phase in inverter voltage be higher than the 3rd threshold values, then announce three-phase output in first, Earth fault on one of second and third phase.
It is according to the following detailed description and accompanying drawing, the various other feature and advantage for making the present invention are apparent.
Brief description of the drawings
Having illustrated currently considered is used to perform the preferred embodiments of the present invention.
In the accompanying drawings：
Fig. 1 is the schematic diagram of adjustable varying-speed motor driver (ASD) according to an embodiment of the invention.
Fig. 2 and 3 is the schematic diagram for illustrating to change the ASD of the claim 1 of the example in fault currents flow path in ASD.
Fig. 4 is embodiments in accordance with the present invention, and the desaturation in Fig. 1 ASD controls the schematic diagram of circuit.
Fig. 5 is embodiments in accordance with the present invention, is illustrated when the motor driven by ASD is in motor halted state, Flow chart for the technology of Earth Fault Detection in Fig. 1 ASD.
Fig. 6 is illustrated when in motor halted state, corresponding to the electricity of earth fault in the phase in Fig. 1 ASD The curve map of stream and magnitude of voltage.
Fig. 7 is embodiments in accordance with the present invention, is illustrated when being currently running by the ASD motor driven, for Fig. 1's The flow chart of the technology of Earth Fault Detection in ASD.
Fig. 8 is the schematic diagram that explanation is used to being processed as ASD three-phase output voltage into the technology of two-phase output.
Fig. 9 is illustrated when motor is currently running, corresponding to earth fault in the phase in Fig. 1 ASD electric current and The curve map of magnitude of voltage.
Embodiment
Embodiments of the invention as described herein are related to a kind of for detecting ground connection event in adjustable-speed driver (ASD) Barrier, and for protecting the system and method that the ASD is not damaged by this kind of earth fault in detection.
Embodiments of the invention are to be directed to the AC motor drivers comprising various structures and control program.It can be planted The structure for entering the AC motor drivers 10 of the embodiment of the present invention is as shown in Figure 1.The motor driver 10 can be configured as, For example, adjustable-speed driver (ASD), it is designed to receive three road AC electric power inputs, the rectification AC input, and performs DC/ AC is changed, and rectifying part is converted to the three-phase alternating voltage with variable frequency and amplitude for being provided to load.Excellent In the embodiment of choosing, the ASD 10 is according to typical every hertz of characteristic of volt come work.In this respect, the motor driver exists Provided in stable state ± 1% voltage-regulation, and with the total harmonic distortion less than 3%, on output frequency ± 0.1Hz, and in the quick dynamic step load response of whole loading range.
In the exemplary embodiment, three-phase AC input 12a -12c are fed to three-phase commutation bridge 14.In all three-phases It is equal to input line impedence.The input of AC electric power is converted to DC electric power by rectifier bridge 14 so that DC link voltages are present in rectification Between bridge 14 and switch arrays 16.The link voltage is smoothed by DC link. capacitors group 18.The switch arrays 16 are by common A series of insulated gate bipolar transistors 20 (IGBT) of switch and anti-paralleled diode 22 for constituting PWM inverter 24 are constituted.Should PWM inverter 24 is with fixed frequency and amplitude synthesis AC voltage waveforms, for sending load, such as induction conductivity 26 to.
The operation of inverter 24 is carried out by control system 28, and control system 28 further can be by multiple PID Controller is constituted, and each PID controller, which has, performs high speed operation (for example, such as space vector modulation, DC link voltages is gone Coupling and protection etc) system layer and programmable applications layer.The control system 28 is by gate drive signal and (for example By voltage sensor 30) sensing DC link voltage and electrode current be linked into PWM inverter 24, so that in sensing DC link voltage Change.The change of these voltages can be interpreted transient load situation, and be used for the switch of control PWM inverter 24 The switching of array 16 so that neighbouring steady state load condition is kept.In addition, control system 28 be used for recognize in ASD 10 with The relevant failure of earth current, and protect ASD not by these fault impacts, including protection IGBT switches 20.Performing so Fault detect and protection during, while IGBT gate drive signals are exported, control system receive DC link voltages, Measured IGBT saturation voltages and two-phase output current as input, and Fault Identification in response to the input and Protection signal, will be discussed in more detail below.
As further illustrated in Figure 1, AC motor drivers 10 also include the electric rail of positive and negative for being arranged on DC links 34 (rail) DC link choke coil L1, L2 (being represented as 32 in Fig. 1) on.The DC links choke coil 32 drives in AC motor Energy stores and filtering are provided during the operation of device 10 and motor 26 on the DC links.
Referring now to Fig. 2 and 3, AC motor drivers 10 are displayed on earth fault and are introduced on motor load side Phase C (be represented as 36 in figs 2 and 3, and phase B and phase A be denoted respectively as 38,40) when operation during.With reference first to Fig. 2, when the upper switching transistor 44 that fault currents flow path 42 is displayed on phase C is switched on.As upper switch is brilliant Body pipe 44 is switched on, and the phase C broken down is changed into booster circuit.So fault current passes through the DC choke coils L1 in positive DC link Energy stores are provided.As shown in figure 3, when the upper switching transistor 44 on phase C is turned off, and the lower switching transistor on phase C 46 when being switched on, and current flow path 42 changes.That is, current flow path 42 continues to flow in a same direction It is dynamic, but change path now and charged with the DC link. capacitors to DC link. capacitors group 18.This circulation, i.e. failure Current flow path 42 alternately provides energy stores and the DC chains to DC link. capacitors group 18 by DC choke coils L1 Road capacitor charging, is repeated, because upper and lower transistor 44,46 is switched in the pulse-width-modulated mode of inverter 24 And shut-off.
What it is in the event of failure is precisely mutually the one of any of other phases, it is, phase B or phase A, wherein corresponding Switch is switched on and off, then the characteristic on fault currents flow path is similar.For clarity, DC link electricals are influenceed The paired switch of pressure is the switch 44,46 for phase C earth faults, for the switch 48,50 of phase B earth faults, and is used for The switch 52,54 of phase A earth faults.
As shown in Figures 2 and 3, while IGBT gate drive signals are exported, control system 28 receives DC link voltages, institute The IGBT saturation voltages and two-phase output current of measurement are as input, and the Fault Identification in response to the input and guarantor Signal is protected, be will be discussed in more detail below.Control system 28 is configured as relevant with earth current in identification ASD 10 Failure, and protect the ASD not by these fault impacts, including protection IGBT switches 20.For the ground connection in phase A, B or C The identification of failure, it can be appreciated that be generally to there are three current sensors to realize this ground connection in output motor load-side Fault detect.However, embodiments in accordance with the present invention, the technology of the Earth Fault Detection being used in ASD systems provided is only Merely with two current sensors, such as the current sensor 56,58 respectively on phase A and phase B 40,38 in Fig. 2 and 3. To carrying out the technology of Earth Fault Detection just with two current sensors in use, being arranged in ASD systems On each phase electric structure in ASD be used for detection of excessive current situation (such as in the case of such as short circuit etc) go satisfy Be used with control circuit, and the DC link voltages measured are also used, the DC link voltages by voltage sensor come Measurement, such as voltage sensor 30 shown in Fig. 1 etc.
The schematic diagram of desaturation control circuit 60 is provided in Fig. 4, embodiments in accordance with the present invention, desaturation control Circuit includes the gate drivers 62 of the gating of switch in control inverter (for example, inverter 24).The desaturation controls circuit 60 also including itself having the digital signal processor (DSP) 64 of control algolithm, and the digital signal processor was both sent a signal to Gate drivers 62, also receive signal from gate drivers 62.Desaturation control circuit 60 is used as the operating principle of protection mechanism It is based on the fact that：Across the voltage of power electronic switching (such as IGBT switch 20) be the letter for the electric current for flowing through the switch Number.If the switching current exceedes its maximum permissible value, it will extend over across the voltage of the switch corresponding with its maximum allowed current Threshold voltage.Herein, on off state should be considered-in "Off" state (for example, signal be 0), across the switch Voltage is equal to DC link voltages, even if the electric current for passing through the switch is zero.Embodiments in accordance with the present invention, desaturation circuit 60 can To be only installed on the upper and lower transistor in short-circuit phase (for example, transistor/IGBT 44,46 in Fig. 2 and 3), or by On the upper and lower transistor on all three-phases.
Referring now to Fig. 5, and with continued reference to Fig. 2 and 3, it is shown that by only two-phase using current sensor come Detect ASD in earth fault technology 70 exemplary embodiment, this be in such scene, wherein, with the phases of ASD 10 The motor 26 of association is to be in motor halted state.The technology 70 can utilize the controller associated with ASD to realize, example The controller 28 being such as connected with ASD 10.The combination of current sensor 56,58 on phase A and phase B, circuit is controlled with desaturation 60 together (Fig. 4), it is allowed to the technology 70 that earth fault is detected on all three-phases in ASD 10 output is realized, even in defeated Go out no current sensor onto the phase C of motor.
As shown in figure 5, technology 70 starts with the startup of the motor in halted state at step 72.Then pass through The gating of the switch in inverter is controlled, pulse width modulation (PWM) starts at step 74, otherwise wherein this PWM is three-phase Synchronous PWM, or being order PWM, in order PWM, three-phase is sequentially opened.When PWM starts, at step 76 technology after It is continuous to carry out, wherein determining, i.e., about whether electric current measured on phase A or phase B, ianOr ibn, exceeded predetermined Current threshold (threshold values _ 1), this with whether the voltage on ASD 10 DC links 34, Vdc, exceeded predetermined threshold voltage The judgement of (threshold values _ 2) is together.It is worth noting that, voltage VdcInfluenceed, on phase C, do not have by the switch 44,46 corresponding with phase C There is output current sensor to be used.If determined at step 76, phase current ianOr ibnBeyond predetermined current valve It is worth (threshold values _ 1), and DC link voltages VdcBeyond predetermined threshold voltage (threshold values _ 2), it has been noted at 78, that Technology proceeds at step 80 and 82, wherein, announce that earth fault is present in ASD 10 and turned off in ASD 10 IGBT (it is, IGBT 44-54), to protect ASD to exempt from damage.So, if earth fault is present in ASD 10 In phase A or phase B, then determination made 78 gets ready the detection for such earth fault at step 76.
If on the contrary, determined at step 76, electric current ianOr ibnWithout departing from predetermined current threshold, and/or Voltage VdcWithout departing from predetermined threshold voltage, it has been noted at 84, then technology proceeds at step 86, its In in order to determine the presence of earth fault, another voltage and current analysis is performed.That is, at step 86, making Judge, i.e., on electric current ianAnd ibnWhether predetermined current threshold (threshold values _ 1) is less than.Further judge in step It is made at 86, i.e., about whether voltage VdcBeyond predetermined threshold voltage (threshold values _ 2), and it is whether measured IGBT saturation voltages (it is, voltage across switch 44,46 in Fig. 2 and 3) on phase C, Vc_desat(as passing through desaturation Control determined by circuit like that (Fig. 4)), higher than predetermined threshold values (threshold values _ 3).On measured IGBT saturations electricity Pressure, Vc_desat, it would be recognized that, if the measured voltage across IGBT (such as 44,46), exceed predetermined Threshold voltage (threshold values _ 3), then corresponding current threshold will also be exceeded by flowing through IGBT 44,46 electric current.
If determined at step 86, electric current ianAnd ibnLess than predetermined current threshold (threshold values _ 1), DC link electricals Press VdcPredetermined threshold voltage (threshold values _ 2), and voltage V are exceededc_desatHigher than predetermined threshold values (threshold values _ 3), as being pointed out at 88, then technology proceeds at step 80 and 82, wherein announcing that earth fault is present In ASD 10 and the IGBT in ASD 10 is turned off, to protect ASD to exempt from damage.So, if earth fault is present in ASD In phase C in 10, then determination made gets ready the detection for such earth fault at step 88.Fig. 6 passes through The diagram of motor current under the ground fault condition on phase C and DC link voltages under motor halted state, explanation The determination of such earth fault on phase C.Window 90 above in Fig. 6 is the explanation to threephase motor electric current, and under The window 92 in face is the explanation to DC link voltages.As shown in fig. 6, phase C electric currents 94 are sharply increased, and phase A and B electric current 96, 98 also increase, but can not possibly equally reach their break opening contact (that is, threshold value _ 1) soon.At the same time, DC link voltages 100 also increase.In the execution (Fig. 5) of technology 70, and during doing at step 86 and judging, the logic in controller 28 Configured in the way of system is by breaking (trip), pass through phase C Zenith trackings (Vc_desat) trigger, then timer continues Operation, thus capture whether there is also DC links overvoltage (it is, Vdc>Threshold values _ 2).When two signals, Vc_desatAnd Vdc, When reaching respective threshold values, ground fault condition is identified.
Referring again to Fig. 5, if determined at step 86, or voltage VdcNo more than predetermined threshold voltage (valve Value _ 2), or measured IGBT saturation voltages Vc_desatNot higher than predetermined threshold voltage (threshold values _ 3), as As being indicated at 102, then technology proceeds at step 104, wherein announcing that no earth fault is present in ASD 10 In.Technology 70 will be then moved to end, and motor is changed into running status from inactive state, and this will be below in reference to Fig. 7 quilts It is discussed in detail.
So, technology 70 is by using the current sensor in only two-phase, under motor halted state, in being ASD The detection of earth fault get ready.Feedback from two current sensors, circuit is controlled with reference to from desaturation Voltage (and corresponding electric current) feedback, and combine DC link voltages information to analyze, all three-phases in the output for being ASD On the detection of earth fault get ready, there is no current sensor in the phase in the output to motor.
Referring now to Fig. 7, and with continued reference to Fig. 2 and 3, it is shown that the exemplary embodiment of technology 110, the technology is led to Cross using the current sensor in only two-phase, the earth fault in detection ASD, this be in the motor associated with ASD just In the case of operation.During technology 110 is performed, it is contemplated that be grounded suddenly in a certain phase (such as phase C) During failure, motor just driving load under normal handling conditions, for example, as the description done to technology 110.With for Detect that the technology 70 (Fig. 5) of earth fault is similar under motor halted state, for being detected during motor operation The technology 110 of earth fault can be realized by the controller related to ASD, for example, be connected to ASD 10 controller 28. The combination of current sensor 56,58 on phase A and phase B, with desaturation control circuit 60 (Fig. 4) and DC link voltages distribution one Rise, it is allowed to realize for detect ASD 10 output in all three-phases on earth fault technology 110, even in being output to No current sensor on the phase C of motor.
As shown in fig. 7, technology 110 starts at step 112, now motor running under " normal " conditions a two-state memory cell (it is, There is no the presence of earth current failure).Then, the technology proceeds at step 114, wherein decision making, on phase A or Measured electric current, i on phase BanOr ibn, if more than predetermined current threshold (threshold values _ 1), and in ASD DC chains Voltage V on roaddcWhether predetermined threshold voltage (threshold values _ 2) is exceeded.It is also at step 114, to decision making, on For the motor output reference voltage of the inverter PWM d-q component of voltages instructed, Vref_d, if drop to (it is, low In) predetermined threshold voltage (threshold values _ 4).Motor output reference voltage Vref_dIt is to be based on PWM reference voltages Vref_a、 Vref_b、Vref_cProcessing determine, as shown in figure 8, wherein, PWM reference voltage levels are transformed to two cross streams values first, so After be transformed to two-phase d-q DC values.As shown in figure 8, alpha-beta conversion (α β conversion) 116 is applied to produce α β references Reference voltage in system, Vref_α、Vref_β.The α β reference voltages 118, and α β reference voltages 120 arc tangent, then inserted Enter d-q conversion 122 to produce the reference voltage in d-q referentials, Vref_d、Vref_q.So, from PWM reference voltages Vref_a、 Vref_b、Vref_cProcessing in obtain motor output reference voltage Vref_d, as shown in Figure 8.On PWM reference voltages, Vref_a、Vref_b、Vref_c, it can be appreciated that motor three-phase output reference voltage is to be based on DC link voltages VdcChange move State regulation.So, for example, as voltage VdcDuring increase, PWM duty cycle and corresponding motor output reference voltage Vref_d It is lowered, and vice versa.So, based on reference voltage Vref_d、Vref_qAnd DC link voltages Vdc, the electricity finally adjusted Press Vd、VqIt is output to inverter.
Referring again now to Fig. 7, if determined at step 114, electric current ianOr ibnPredetermined current valve is exceeded It is worth (threshold values _ 1), and voltage VdcPredetermined threshold voltage (threshold values _ 2), and motor output reference voltage are exceeded Vref_d(it is, being less than) predetermined threshold voltage (threshold values _ 4) is dropped below, is noted at 116, then in step Technology proceeds at 118 and 120, wherein, announce that earth fault is present in ASD 10 and turns off the IGBT in ASD, from And protect ASD to exempt from damage.So, if earth fault is present in the phase A in ASD 10 or phase B, at step 114 The determination 116 being made, the detection for such earth fault is got ready.
If on the contrary, determined at step 114, electric current ianOr ibnIt is not above predetermined current threshold, and/ Or DC link voltages VdcIt is not above predetermined threshold voltage, and/or motor output reference voltage Vref_dDo not decline To less than (it is, being more than) predetermined threshold voltage (threshold values _ 4), it is noted at 122, then technology is at step 124 Proceed, wherein the presence in order to determine earth fault, another voltage and current analysis is performed.That is, in step At rapid 124, decision making, on electric current ianAnd ibnWhether predetermined current threshold (threshold values _ 1), and voltage V are less thandc Whether predetermined threshold voltage (threshold values _ 2) is exceeded.At step 124, also decision making, export and refer on motor Voltage Vref_dWhether predetermined threshold voltage (threshold values _ 4), and IGBT saturation phase C at least one measured by are less than Voltage (it is, voltage across switch 44,46 in Fig. 2 and 3) Vc_desat(as determined by controlling circuit by desaturation Like that (Fig. 4)), if higher than predetermined threshold voltage (threshold values _ 3).On measured IGBT saturation voltages, Vc_desat, it would be recognized that, if the measured voltage across IGBT 44,46 has exceeded predetermined threshold voltage (threshold values _ 3), then corresponding current threshold will also be exceeded by flowing through IGBT 44,46 electric current.
If determined at step 124, electric current ianAnd ibnLess than predetermined current threshold (threshold values _ 1), DC links Voltage VdcMore than predetermined threshold voltage (threshold values _ 2), and motor output reference voltage Vref_dDrop below ( Just it is less than/is less than) predetermined threshold voltage (threshold values _ 4), and the IGBT saturation voltages measured by least one Vc_desatHigher than predetermined threshold values (threshold values _ 3), as being indicated at 126, then technology is in step 118 and 120 Place proceeds, wherein announcing that earth fault is present in ASD 10 and turns off the IGBT in ASD, so as to protect ASD to exempt from Damage.So, if earth fault is present in the phase C in ASD 10, the determination being made at step 126 will be this The detection of the earth fault of sample is got ready.Fig. 9 is exported by motor current, DC link voltages and motor and referred to The determination for illustrating such earth fault on phase C of voltage, wherein, when earth fault occurs in phase C, Motor is just in driving load.Window 128 above in Fig. 9 is the diagram of threephase motor electric current, and middle window 130 It is the diagram of DC link voltages, and following window 132 is the voltage V for the final regulation for being output to inverterd、VqTwo-phase d With the diagram of q components.As shown in figure 9, phase C electric currents 134 increased dramatically, and phase A and B electric current 136,138 also increase, but not Their break opening contact (it is, threshold values _ 1) may be equally reached soon.In the meantime, DC link voltages 140 increase.As schemed Shown in 9, i is detected in phase C overcurrentc_desatReach its overcurrent trip voltage (threshold values _ 3) and DC link voltages VdcReach its mistake Delay is there may be between voltage cutout threshold values (threshold values _ 2), and DC link voltages also influence to be output to the final tune of inverter The voltage V of sectiond、Vq.When two signals reach respective threshold values, ground fault condition is identified and declared at step 120 Cloth.
Referring again to Fig. 7, if determined at step 124, or voltage VdcIt is not above predetermined threshold voltage (threshold values _ 2), or the IGBT saturation voltages V measured by least onec_desatNot higher than predetermined threshold values (threshold values _ 3), As being indicated at 142, then technology proceeds at step 144, wherein announcing that no earth fault is present in In ASD 10.Then, step 112 is returned to by closed loop, technology 110 can proceed, wherein, motor is continued to run with, and And perform electric current and voltage analysis in ensuing ASD.
So, by using the current sensor in only two-phase, during normal operating/operation of motor, technology 110 get ready for the detection of the earth fault in ASD.Feedback from two current sensors, with reference to from desaturation Voltage (and corresponding electric current) feedback of circuit, and the characteristic of DC link voltages is controlled to analyze, this is the output in ASD In all three-phases on the detection of earth fault get ready, do not have in a certain phase in the output to motor Current sensor.
It can be appreciated that depending on ASD system operation conditions-such as load change, switching frequency is set, ground connection At the time of when failure occurs with specific currents amplitude, system impedance change, etc. --- each earth fault there may be difference The order of severity, and failure consecutive variations.For example, in the case of a certain earth fault, motor phase current can be Upper first of time exceedes fault threshold, and then DC link voltages can exceed fault threshold with second in time.Another In the case of individual earth fault, DC link voltages can exceed fault threshold with first in time, then motor phase current Fault threshold can be exceeded with second in time.No matter these what states change, embodiments in accordance with the present invention are provided Method can be provided for ASD systems earth fault detection, identification and protect.
Valuably, such embodiments of the invention are only being used only in the adjustable-speed driver of two output current sensors The system and method that Earth Fault Detection and protection are provided, without the current diverter on DC links.The detection method is real The combination of existing motor current measurement, the measurement of DC link voltages, IGBT desaturations circuit and control logic is showed.Such as Really the failure is independently of the overcurrent fault of earth fault, or independently of the DC link voltage failures of earth fault, or It is veritably earth fault to person, then the technology is effective to isolated fault, and no matter motor is to be in halted state Still being in running status to be implemented.Embodiments of the invention not only recognize the ground fault condition in ASD systems, And accurately determine in No. three motor outputs which mutually export generation earth fault.Then, when earth fault is known Not Chu Lai when, the IGBT in ASD can be turned off, and any damage is exempted from protection equipment.So, embodiments of the invention are only One provides accurate grounding fault diagnosis and protection feature without two ground.
The technical contribution of disclosed method and apparatus is that it gets ready for computer implemented technology, the technology For detecting the earth fault in ASD, and the ASD is protected when it is detected to exempt from the damage of this kind of earth fault.The technology Realize the combination of the measurement of existing motor current, the measurement of DC link voltages, IGBT desaturations circuit and control logic with The earth fault in ASD is detected, and only needs two output current sensors in two-phase in the output.
According to one embodiment of the invention, with the input that may be connected to AC power supplies and the inputs of AC motor may be connected to The AC motor drivers of the three-phase output of terminal are provided, and the AC motor drivers include pulse width modulation (PWM) there is multiple switch, to control the electric current flowing and terminal voltage in AC motor in inverter, the inverter.AC electricity Motivation driver also includes fault detect and the protection system for being connected to PWM converter, and the fault detect and protection system Further comprise the current sensor pair for measuring the electric current in the first phase and the second phase in the output of AC motor drivers, The voltage sensor of the DC link voltages on DC links for measuring AC motor drivers, is configured to determine that inverse across PWM The voltage of switch corresponding with the third phase in three-phase output and the desaturation of associated current become in device controls circuit, and control The electric current measured in device processed, the first phase and the second phase that the controller is configured as in being exported in three-phase is compared with the first threshold values Compared with, measured DC link voltages are compared with the second threshold values, by across the voltage of the switch on the third phase of PWM inverter with 3rd threshold values compares, and based on the first and second phase currents, DC link voltages and the voltage across the switch on third phase With the comparison of first, second, and third threshold values, one of first, second, and third phase in the three-phase output of detection to AC motor On earth fault.
According to another embodiment of the present invention, a kind of method bag for being used to detect earth fault in AC motor drivers Include there is provided the AC motor drivers being connected between AC power supplies and AC motor, the AC motor drivers are included with many It is individual to switch and be configured as pulse width modulation (PWM) inverter that regulation is exported to the three-phase of AC motor.This method is also wrapped Include the current sensor by including in the first phase and the second phase, first phase and second phase of the measurement at least in three-phase output In electric current in each phase, measure the voltage on the DC links of AC motor drivers, and pass through desaturation and control circuit to survey The voltage across the switch corresponding with the third phase in three-phase output in PWM inverter is measured, and also based on measured voltage It is determined that across the electric current of the switch corresponding with third phase in PWM inverter.This method further comprises in being exported in three-phase Measured electric current is compared with the first threshold values in first phase and the second phase, by measured DC link voltages and the second threshold values phase Compare, will be compared across the voltage of the switch on the third phase in PWM inverter with the 3rd threshold values, and based on first and second The comparison of phase current, DC link voltages and voltage and first, second, and third threshold values across the switch on third phase, judges The presence of earth fault in one of first, second, and third phase into the three-phase output of AC motor.
According to still another embodiment of the invention, a kind of system bag for being used to detect earth fault in AC motor drivers Include, the current sensor pair for measuring the electric current in the first phase and the second phase during the three-phase of AC motor drivers is exported, For measuring the voltage sensor of the DC link voltages in AC motor drivers on DC links, and it is configured to determine that across AC The desaturation control circuit of the IGBT of inverter voltage and associated current in motor driver, desaturation control circuit is true Voltage and associated current on the fixed third phase at least in three-phase output.The system also include controller, the controller by with Measured electric current compares with the first threshold values in the first phase and the second phase being set in being exported in three-phase, by measured DC Link voltage compared with the second threshold values, by across the voltage with the corresponding IGBT of third phase in inverter compared with the 3rd threshold values Compared with, and if one of first and second phase currents are higher than the first threshold values and DC link voltages are higher than the second threshold values, Huo Zheru Really the first and second phase currents are less than the first threshold values, and DC link voltages are higher than the second threshold values, and across in inverter with the 3rd Corresponding IGBT voltage is higher than the 3rd threshold values, then announces connecing in one of first, second, and third phase in three-phase output Earth fault.
The present invention is described with regard to preferred embodiment, and it can be appreciated that these fairly set out outside Equivalent, substitute and modification be all possible, and within the scope of appended claim.

Claims (23)

1. a kind of AC motor drivers, it, which has, may be connected to the input of AC power supplies and may be connected to the input of AC motor The three-phase output of son, the AC motor drivers include：
Pulse width modulation (PWM) inverter, wherein with multiple switch, to control the electric current flowing and end electricity in AC motor Pressure；With
Fault detect and the protection system of PWM inverter are connected to, the fault detect and protection system include：
Current sensor pair, for measuring the electric current in the first phase and the second phase in the output of AC motor drivers；
Voltage sensor, the DC link voltages on DC links for measuring AC motor drivers；
Desaturation controls circuit, and it is configured to determine that third phase in being exported in PWM inverter with three-phase is corresponding and opened The voltage and associated current of pass；And
Controller, it is configured as：
The electric current measured in the first phase and the second phase in being exported in three-phase compares with the first threshold values；
Measured DC link voltages are compared with the second threshold values；
It will be compared across the voltage of the switch on the third phase of PWM inverter with the 3rd threshold values；And
Based on the first and second phase currents, DC link voltages and across the voltage of the switch on third phase and first, second and Earth fault in one of the comparison of three threshold values, first, second, and third phase in the three-phase output of detection to AC motor.
Stop 2. AC motor drivers according to claim 1, wherein controller are further configured to be in AC motor Earth fault is only detected during state.
3. AC motor drivers according to claim 2, wherein controller are further configured to when first and second is mutually electric When one of stream is higher than the second threshold values higher than the first threshold values, and DC link voltages, earth fault is announced.
4. AC motor drivers according to claim 2, wherein controller are configured as the first and second phase currents and are less than First threshold values, DC link voltages are higher than the second threshold values, and across corresponding with the third phase in three-phase output in PWM inverter When the voltage of switch is higher than three threshold values, earth fault is announced.
5. AC motor drivers according to claim 1, wherein controller are configured as examining when AC motor are currently running Survey earth fault.
6. AC motor drivers according to claim 5, wherein controller are further configured to further comprise：
Determine the d-q component of voltages of motor output reference voltage；With
The d-q component of voltages of motor output reference voltage are compared with the 4th threshold values.
7. AC motor drivers according to claim 6, wherein controller are configured as one of first and second phase currents Higher than the first threshold values, DC link voltages are higher than the second threshold values, and motor output reference voltage d-q component of voltages less than the During four threshold values, earth fault is announced.
8. AC motor drivers according to claim 6, wherein controller are configured as the first and second phase currents and are less than First threshold values, DC link voltages are higher than the second threshold values, and the d-q component of voltages of motor output reference voltage are less than the 4th threshold values, And when the voltage of the switch corresponding with the third phase in three-phase output in PWM inverter is higher than three threshold values, announce to connect Earth fault.
9. AC motor drivers according to claim 1, wherein the 3rd threshold values includes threshold voltage, and wherein when across the 3rd When the voltage of switch in phase exceedes the threshold voltage, exceed corresponding current valve across the associated current of the switch on third phase Value.
10. AC motor drivers according to claim 1, the multiple switch wherein in PWM inverter includes IGBT, and And wherein controller is further configured to turn off the multiple IGBT when earth fault is detected, to protect AC electronic Machine driver caused by earth fault from damaging.
11. AC motor drivers according to claim 1, wherein controller are further configured to detection first, second Earth fault is there occurs with which phase in third phase.
12. a kind of method for detecting earth fault in AC motor drivers, including：
The AC motor drivers being connected between AC power supplies and AC motor are provided, the AC motor drivers are included with many It is individual to switch and be configured as pulse width modulation (PWM) inverter that regulation is exported to the three-phase of AC motor；
By the current sensor included in the first phase and the second phase, first phase and second of the measurement at least in three-phase output Electric current in phase in each phase；
Measure the voltage on the DC links of AC motor drivers；
Circuit measuring is controlled across the electricity of the switch corresponding with the third phase in three-phase output in PWM inverter by desaturation Pressure, and the electric current across the switch corresponding with third phase in PWM inverter is also determined based on measured voltage；
Measured electric current compares with the first threshold values in the first phase and the second phase in being exported in three-phase；
Measured DC link voltages are compared with the second threshold values；
It will be compared across the voltage of the switch on the third phase in PWM inverter with the 3rd threshold values；And
Based on the first and second phase currents, DC link voltages and across the voltage of the switch on third phase and first, second and The comparison of three threshold values, judges earth fault in one of first, second, and third phase into the three-phase output of AC motor In the presence of.
13. method according to claim 12, wherein when AC motor are in halted state, being examined in AC motor drivers Survey earth fault.
14. method according to claim 13, further comprises that working as one of first and second phase currents is higher than the first threshold values, and When DC link voltages are higher than the second threshold values, earth fault is announced.
15. method according to claim 13, further comprises when the first and second phase currents are less than the first threshold values, DC link electricals Pressure is higher than second threshold values, and the corresponding switch of the third phase in being exported in PWM inverter with three-phase voltage higher than the During three threshold values, earth fault is announced.
16. method according to claim 12, wherein when AC motor are currently running, detecting and connecing in AC motor drivers Earth fault.
17. method according to claim 16, further comprises：
Determine the d-q component of voltages of motor output reference voltage；With
The d-q component of voltages of motor output reference voltage are compared with the 4th threshold values.
18. method according to claim 17, further comprises when one of first and second phase currents are higher than the first threshold values, DC chains Road voltage be higher than the second threshold values, and motor output reference voltage d-q component of voltages be less than four threshold values when, announce ground connection Failure.
19. method according to claim 17, further comprises when the first and second phase currents are less than the first threshold values, DC link electricals Pressure is higher than the second threshold values, and the d-q component of voltages of motor output reference voltage are less than the 4th threshold values, and across in PWM inverter Three-phase output in the voltage of switch on third phase when being higher than three threshold values, announce earth fault.
20. method according to claim 12, wherein the multiple switch includes multiple insulated gate bipolar transistors；
And wherein, when it is determined that in the presence of earth fault, this method further comprises turning off the multiple insulated gate bipolar crystalline substance Body pipe, to protect AC motor drivers from being damaged caused by earth fault.
21. method according to claim 12, wherein the 3rd threshold values includes threshold voltage, and wherein when across opening on third phase When the voltage of pass exceedes the threshold voltage, exceed corresponding current threshold across the associated current of the switch on third phase.
22. a kind of system for detecting earth fault in AC motor drivers, the system includes：
Current sensor pair, for measuring the electric current in the first phase and the second phase during the three-phase of AC motor drivers is exported；
Voltage sensor, for measuring the DC link voltages in AC motor drivers on DC links；
Desaturation controls circuit, and it is configured to determine that the insulated gate bipolar transistor of inverter in across AC motor driver Voltage and associated current, the desaturation control circuit determine at least three-phase output in third phase on voltage and associate electricity Stream；And
Controller, it is configured as：
Measured electric current compares with the first threshold values in the first phase and the second phase in being exported in three-phase；
Measured DC link voltages are compared with the second threshold values；
It will be compared across the voltage of the insulated gate bipolar transistor corresponding with third phase in inverter with the 3rd threshold values；And
If meeting following condition, the earth fault in one of first, second, and third phase in declaration three-phase output：
One of first and second phase currents are higher than the first threshold values, and DC link voltages are higher than the second threshold values；Or
First and second phase currents are less than the first threshold values, and DC link voltages are higher than the second threshold values, and across in inverter with the The voltage of the corresponding insulated gate bipolar transistor of three-phase is higher than the 3rd threshold values.
23. system according to claim 22, wherein controller are further configured to：
Determine the d-q component of voltages of motor output reference voltage；
The d-q component of voltages of motor output reference voltage are compared with the 4th threshold values；And
If meeting following condition, the earth fault in one of first, second, and third phase in declaration three-phase output：
One of first and second phase currents are higher than the first threshold values, and DC link voltages are higher than the second threshold values, and motor output ginseng The d-q component of voltages for examining voltage are less than the 4th threshold values；Or
First and second phase currents are less than the first threshold values, and DC link voltages are higher than the second threshold values, motor output reference voltage D-q component of voltages are less than the 4th threshold values, and across the electricity of the insulated gate bipolar transistor corresponding with third phase in inverter Stream is higher than the 3rd threshold values.
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US9160161B2 (en) 2015-10-13
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US20130293988A1 (en) 2013-11-07
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CA2870951A1 (en) 2013-11-07
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